Variant six-rotor unmanned aerial vehicle with terrain self-adaptive take-off and landing and walking functions
阅读说明:本技术 一种具备地形自适应起降和行走功能的变体六旋翼无人机 (Variant six-rotor unmanned aerial vehicle with terrain self-adaptive take-off and landing and walking functions ) 是由 魏小辉 宋佳翼 彭一明 孙浩 尹乔之 于 2020-08-08 设计创作,主要内容包括:本发明公开了一种具备地形自适应起降和行走功能的变体六旋翼无人机,涉及六旋翼无人机领域,能够在复杂地形下稳定起降落,且能在地面上移动。本发明包括:安装平台、控制盒、旋翼、支臂。沿安装平台的两侧边对称安装六个支臂,支臂具有三段两个关节,支臂上安装旋翼。安装平台上控制盒连接并控制旋翼、支臂,并通过距离传感器、角度传感器回传数据自主智能调节飞行器落地姿态和坐标。本发明的设计特点在于集成了机身和起落架,并具有智能自主降落控制系统,同时利用六足仿生结构设计,提高无人机着陆时复杂地形适应能力,以及额外的行走能力,拓宽无人机的应用前景。(The invention discloses a variant six-rotor unmanned aerial vehicle with terrain self-adaptive take-off, landing and walking functions, relates to the field of six-rotor unmanned aerial vehicles, and can stably take off and land under complex terrains and move on the ground. The invention comprises the following steps: mounting platform, control box, rotor, support arm. Six support arms are symmetrically arranged along two side edges of the mounting platform, each support arm is provided with three sections of two joints, and a rotor wing is arranged on each support arm. The control box on the mounting platform is connected with and controls the rotor and the support arm, and returns data through the distance sensor and the angle sensor to autonomously and intelligently adjust the landing attitude and the coordinates of the aircraft. The design of the unmanned aerial vehicle landing system is characterized in that the unmanned aerial vehicle landing system integrates a machine body and an undercarriage, has an intelligent autonomous landing control system, and improves the adaptability of the unmanned aerial vehicle to complex terrain and extra walking capability by utilizing the hexapod bionic structure design, thereby widening the application prospect of the unmanned aerial vehicle.)
1. The utility model provides a six rotor unmanned aerial vehicle of variant that possesses topography self-adaptation take off and land and walking function which characterized in that includes: the device comprises a mounting platform (1), a control box (2), a rotor wing (3) and a support arm (4);
the mounting platform (1) is in an axisymmetric pattern, six support arms (4) are symmetrically mounted along two side edges of the mounting platform (1), the support arms (4) are provided with three sections and two joints, and the support arms (4) are provided with rotors (3);
the mounting platform (1) is also provided with a control box (2), and the control box (2) is connected with and controls the rotor wing (3) and the support arm (4);
the support arm (4) comprises a first bone joint (41), a second bone joint (42), a third bone joint (43), a steering engine (45), an angle sensor (46) and a distance sensor (47);
the mounting platform (1), the first bone joint (41), the second bone joint (42) and the third bone joint (43) are sequentially and movably connected, and steering engines (45) are arranged at the joints;
an angle sensor (46) is arranged at the joint of the first condyle (41) and the second condyle (42), and a distance sensor (47) is arranged at the joint of the second condyle (42) and the third condyle (43).
2. The variant hexa-rotor unmanned aerial vehicle with terrain adaptive take-off, landing and walking functions of claim 1, wherein the degree of freedom at the junction of the mounting platform (1) and the first condyle (41) is a swing degree of freedom; the first condyle (41) and the second condyle (42), and a degree of freedom between the second condyle (42) and the third condyle (43) is a rotational degree of freedom.
3. The variant hexa-rotor unmanned aerial vehicle with terrain adaptive take-off, landing and walking functions of claim 1, wherein the rotor (3) comprises blades (31), a rotor motor (32), a rotor mounting platform (33), a connecting rod (34), a gear shaft (35), a transmission gear (36), a gear plate (37);
install paddle (31) on the output shaft of rotor motor (32), rotor motor (32) set up on rotor mounting platform (33), and connecting rod (34) are connected to rotor mounting platform (33) bottom, and connecting rod (34) bottom sets up the through-hole, gear shaft (35) and second condyle (42) fixed connection, through-hole and connecting rod (34) fixed connection on connecting rod (34) are passed in gear shaft (35), and the tooth and gear disc (37) meshing at gear shaft (35) top, transmission gear (36) are installed on second condyle (42), install gear disc (37) on first condyle (41), gear disc (37) and transmission gear (36) meshing.
4. The variant hexa-rotor drone with terrain adaptive take-off, landing and walking function according to claim 1, characterized in that a foot pad (44) is fixedly connected to the end of the third condyle (43).
5. The variant hexa-rotor unmanned aerial vehicle with terrain adaptive take-off, landing and walking functions of claim 4, wherein the foot pad (44) is hemispherical and made of rubber material.
6. The variant six-rotor unmanned aerial vehicle with terrain adaptive take-off, landing and walking functions of claim 1, wherein the control box (2) comprises a steering engine controller and a rotor motor controller, and a PID control method is adopted.
Technical Field
The invention relates to the field of six-rotor unmanned aerial vehicles, in particular to a variant six-rotor unmanned aerial vehicle with terrain self-adaptive take-off, landing and walking functions.
Background
Many rotor unmanned aerial vehicle's range of application involves each aspect of daily life, especially because its outstanding small and exquisite, convenient characteristics of easily operating, its application scenario is also more and more extensive. However, with the diversification of application occasions, the cruising ability and the taking-off and landing ability of the multi-rotor unmanned aerial vehicle are more required.
Traditional skid-mounted or wheel-type landing gear's many rotor unmanned aerial vehicle is higher to the ground requirement of taking off and land. Because lack topography self-adaptation's ability, when taking off and land complicated ground, often need control personnel and additionally regulate and control according to experience and control technique, greatly increased takes off the degree of difficulty, when operating personnel sight is obstructed can't obtain many rotor unmanned aerial vehicle's the ground information of taking off and land, can take place the accident that unmanned aerial vehicle can't descend or turn on one's side the damage often even.
In order to solve the problem of terrain adaptation, the prior art provides the following solutions: in chinese patent, publication No. CN209274889U, a terrain adaptive scheme that uses four independently telescopic rod structures as landing gear of unmanned aerial vehicle is proposed in "a plant protection unmanned aerial vehicle complex terrain adaptive landing gear". However, because the degree of freedom of the self-adaptive landing gear is not high, each leg can only change the height of the foot end landing point, but cannot change the plane position of the foot end landing point. Meanwhile, the stability of the four-foot structure is poor when one foot is suspended.
Chinese patent, CN106043673A, "an unmanned aerial vehicle capable of landing on any terrain", proposes a fixed ring connected to the body through a support rod as the landing gear of the unmanned aerial vehicle. The fixing ring is in line contact with the ground, and the applicable terrain condition is limited. Great to the ground inclination, the great topography of unevenness still can not adapt to can't guarantee that the organism is in horizontal gesture under the unevenness topography, be unfavorable for unmanned aerial vehicle to take off and land. Moreover, for the invention, in order to meet the requirement of terrain self-adaptation, the structure of the self-adaptation undercarriage is often more complex, the structure weight is larger, and the endurance capacity of the unmanned aerial vehicle can be greatly shortened due to the weight increase of the unmanned aerial vehicle. On the other hand, the conventional multi-rotor unmanned aerial vehicle can only change the space position through flying or artificial movement, and in application scenes such as mines and tunnels with narrow exploration spaces, the situation that the space required by flying cannot be met frequently occurs, so that the unmanned aerial vehicle is difficult to continue to advance and complete the flying task. To sum up, many rotor unmanned aerial vehicle among the prior art, ground self-adaptation ability is weaker, intelligent low, strong to operating personnel's dependence, does not have the ability of independently stabilizing the descending and has higher to the flight space requirement, can't satisfy the application scene in the narrow and small space.
Disclosure of Invention
The invention provides a variant six-rotor unmanned aerial vehicle with terrain adaptive take-off, landing and walking functions, which can independently and stably take off and land under a complex terrain far away from the sight of an operator and can move on the ground.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a six rotor unmanned aerial vehicle of variant that possesses topography self-adaptation take off and land and walking function, includes: mounting platform, control box, rotor, support arm. The mounting platform is an axisymmetric figure, six support arms are symmetrically mounted along two side edges of the mounting platform, each support arm is provided with three sections of two joints, and a rotor wing is mounted on each support arm. The mounting platform is also provided with a control box which is connected with and controls the rotor wing and the support arm.
The support arm can be folded or unfolded, the support arm when unfolded imitates the leg structure of a spider, and the self-adaptive performance of the support arm is enhanced through three joints. And the hexapod structure has strong stability, and can meet the stability of the main body structure during walking and self-adaptive landing, so that the hexapod structure can take off and land on various complex terrains such as pits and slopes, or realize a walking function.
The rotor is installed on the support arm for the complete machine integrated level is high, and structure light in weight has alleviateed the load, has also improved unmanned aerial vehicle's duration to a certain extent.
Furthermore, the support arm includes first condyle, second condyle, third condyle, steering wheel, angle sensor, distance sensor. The mounting platform, the first bone joint, the second bone joint and the third bone joint are sequentially and movably connected, and steering engines are arranged at the joints. An angle sensor is arranged at the joint of the first condyle and the second condyle, and a distance sensor is arranged at the joint of the second condyle and the third condyle.
The steering wheel is used for adjusting the deflection angle of each joint department, through the steering wheel control of joint department, has enlarged the motion range of support arm to satisfy unmanned aerial vehicle's motion demand.
Furthermore, the degree of freedom of the joint of the mounting platform and the first condyle is swing degree of freedom; the freedom degree between the first bone joint and the second bone joint and between the second bone joint and the third bone joint is a rotational freedom degree.
Further, the rotor includes paddle, rotor motor, rotor mounting platform, connecting rod, gear shaft, transmission gear, toothed disc. The paddle is installed on the output shaft of the rotor motor, the rotor motor is arranged on the rotor installation platform, the bottom of the rotor installation platform is connected with the connecting rod, the bottom of the connecting rod is provided with the through hole, the gear shaft is fixedly connected with the second rib joint, the gear shaft penetrates through the through hole and the connecting rod which are fixedly connected on the connecting rod, the teeth at the top of the gear shaft are meshed with the gear disc, the transmission gear is installed on the second rib joint, the gear disc is installed on the first rib joint, and the gear disc is meshed with the transmission gear.
Furthermore, a foot pad is fixedly connected at the tail end of the third condyle.
Furthermore, the foot pad is hemispherical and made of rubber materials, so that the stability of a stress point when the support arm lands on the ground is guaranteed, extra buffer capacity can be provided for walking and taking off and landing, and the stability of the support arm during landing and walking is enhanced.
Furthermore, the control box comprises a steering engine controller and a rotor motor controller, processes control signals and sensor signals, adjusts the angle of the steering engine and the rotating speed of the rotor motor through PID control, and has the capability of automatically identifying terrain parameters and intelligently adjusting landing positions and landing postures.
The invention has the beneficial effects that:
the unmanned aerial vehicle adopts a six-foot structure simulating spider legs, increases the selectable space range of landing points in the taking-off and landing processes, and enhances the terrain adaptability of the unmanned aerial vehicle;
according to the unmanned aerial vehicle, the steering engine is adopted to control each joint of the support arm, so that the support arm can be contracted or expanded, the unmanned aerial vehicle has self-adaptive capabilities of flying, walking and terrain rising and falling, and the functional range of the unmanned aerial vehicle is expanded;
the invention adopts the matching among the gears, so that the plane of the rotor wing does not deflect when the support arm rotates, the landing gear and the machine body are designed with high integration level by multiple purposes, the structural weight is reduced, and the endurance time of the unmanned aerial vehicle is increased.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of a stowing state of an unmanned aerial vehicle in an embodiment;
fig. 2 is a schematic diagram of the extended state of the unmanned aerial vehicle in the embodiment;
FIG. 3 is a schematic view of the landing of an unmanned aerial vehicle on an obstacle model;
fig. 4 is a partial schematic view of a rotor.
The system comprises an installation platform, a control box, a
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following detailed description.
The embodiment of the invention provides a variant six-rotor unmanned aerial vehicle with terrain adaptive take-off, landing and walking functions, as shown in fig. 1, comprising:
The
The
The freedom degree of the joint of the
The
The
The embodiment mainly comprises three working states: flight state, landing state, and walking state.
The state of the drone when in flight is as shown in figure 1, with six
The rotor plane can still be kept horizontal when the boom structure is changed, as shown in figure 4. When the
When approaching the target position, the unmanned aerial vehicle transfers to the landing state, and the schematic diagram is shown in fig. 2. When the unmanned aerial vehicle reaches the task place and needs to land, the
Moreover, the
After the unmanned aerial vehicle lands, if the unmanned aerial vehicle needs to work in narrow and difficult-to-fly occasions, such as a search task in a mine pit, the unmanned aerial vehicle is in a walking state. After landing of the drone, the
The unmanned aerial vehicle structure changes to the state of stretching, and when getting into the walking motion mode, six support arms divide into two work groups, and every work group comprises the foremost support arm of 1 one side of mounting platform and two support arms in the back by the opposite side, and two operation groups alternate operation. Therefore, when each working group runs, three feet are grounded to form a stable triangular support structure.
The invention has the beneficial effects that:
unmanned aerial vehicle passes through structural change for the support arm also undertakes undercarriage topography self-adaptation and the function of walking simultaneously. The walking mode imitates the hexapod structure of spider leg, through each joint coordination action, increased the optional spatial dimension of landing site at the in-process of taking off and landing, strengthened unmanned aerial vehicle's topography adaptability, the rotation joint also satisfies the adaptability of support arm to ground such as slope and pit to a great extent, even to the ground regulation that is difficult to satisfy, also can carry out reasonable evasion through the swing joint. At unmanned aerial vehicle's descending in-process, need not personnel's field operation, six rotor unmanned aerial vehicle have certain intelligence, can independently descend and reach task target location. According to the unmanned aerial vehicle, the steering engine is adopted to control each joint of the support arm, so that the support arm can be contracted or expanded, the unmanned aerial vehicle has self-adaptive capabilities of flying, walking and terrain rising and falling, and the functional range of the unmanned aerial vehicle is expanded;
the invention adopts the matching among the gears, so that the plane of the rotor wing does not deflect when the support arm rotates, when the lifting structure of the machine body is changed, the angle of the rotor wing can be corrected through the gear structure to keep the plane of the rotor wing horizontal, the lifting angle is not changed, and the premise is provided for the machine body variant.
The invention integrates multiple purposes, realizes the high integration design of the undercarriage and the airframe, lightens the structural weight and increases the endurance time of the unmanned aerial vehicle.
The six-rotor unmanned aerial vehicle landing system has an intelligent control system, has the capability of automatically controlling the six-rotor unmanned aerial vehicle to land in a blind manner, is safer compared with manual control and intelligent control, reduces the use threshold, and enhances the market potential of the multi-rotor unmanned aerial vehicle.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
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